CN116009561B - Robot and pile searching method and device thereof and storage medium - Google Patents
Robot and pile searching method and device thereof and storage medium Download PDFInfo
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Abstract
The application discloses a robot and seek a stake method, device and storage medium thereof, in the robot seek a stake in-process, confirm the first search order of each room in waiting to search the regional, carry out quick search action to each room in proper order according to the first search order, include: and controlling the robot to navigate to a preset observation point position in each room to search the charging pile, and if the charging pile is not searched at the observation point position, driving out the current room and entering the next room for searching. Pile searching can be successful through a quick searching process under most scenes, and pile searching efficiency is improved. For some special cases, if the charging pile is moved away to a hidden place, if the charging pile is not searched after the quick search action is performed on all rooms, the fine search action can be performed on each room, the search precision of the fine search action is higher than that of the quick search action, and the success rate and stability of pile searching under the abnormal condition can be considered by performing the fine search action.
Description
Technical Field
The present disclosure relates to the field of robot pile searching technologies, and in particular, to a robot, a pile searching method, a pile searching device, and a storage medium.
Background
With the development of socioeconomic and scientific technologies, the pursuit of high-level material life is increasing. In such a context, mobile intelligent robots are increasingly appearing in the public's field of view. Through man-machine interaction forms such as intelligent pronunciation, machine vision, people can control the machine more easily than before, and convenience and comfort level of life, work are showing and are improving. Taking a cleaning robot as an example, the cleaning robot plays an important role in intelligent home members, and is also becoming popular with consumers in recent years.
The robot is internally provided with an electric quantity storage unit, and can be supported to break away from the charging pile to perform autonomous work. After the robot receives the recharging instruction, the robot needs to return to the recharging pile for recharging or other maintenance work, such as water storage, mop cleaning and the like. Therefore, it is important for the robot to accurately and rapidly find the charging pile (which may be simply referred to as "pile finding"). In the prior art, the position of the robot during the last time of charging is generally used as a preset position of a charging pile, and after a recharging instruction is received, the robot moves towards the preset position to search for the charging pile. However, during the robot working process, the charging pile may be manually moved away, which may result in the robot not searching for the charging pile at the preset position. At this time, in the prior art, blind searching, such as random roaming searching, is generally performed in the working area of the robot, and this searching efficiency is too low, especially when the electric quantity of the robot is insufficient, the residual electric quantity of the robot may be insufficient to support the cleaning robot, so that the recharging failure may occur.
Disclosure of Invention
In view of the above problems, the present application is provided to provide a robot, a pile searching method, a pile searching device and a storage medium thereof, so as to ensure a pile searching success rate while considering searching efficiency. The specific scheme is as follows:
in a first aspect, a robot pile-finding method is provided, including:
after the fact that the robot needs to return to the charging pile is determined, determining a first searching sequence of each room in an area to be searched, wherein the area to be searched is all potential areas of the charging pile;
according to the first search sequence, performing quick search actions on each room in turn, wherein the quick search actions comprise: controlling the robot to navigate to a preset observation point position in each room to search a charging pile, and if the charging pile is not searched at the observation point position, driving out the current room and entering the next room for searching;
if the charging piles are not searched after the quick search action is performed on all rooms, fine search actions are performed on the rooms respectively, the time spent on searching a room by the fine search actions is longer than that of the quick search actions, and the search precision is higher than that of the quick search actions.
In a second aspect, a robot pile-finding device is provided, including:
the first search sequence determining unit is used for determining a first search sequence of each room in an area to be searched after determining that the robot needs to return to the charging pile, wherein the area to be searched is all potential areas of the charging pile;
the quick search unit is used for sequentially executing quick search actions on all rooms according to the first search sequence, and the quick search actions comprise: controlling the robot to navigate to a preset observation point position in each room to search a charging pile, and if the charging pile is not searched at the observation point position, driving out the current room and entering the next room for searching;
and the fine search unit is used for respectively executing fine search actions on each room if the charging piles are not searched after the quick search actions are executed on all rooms, wherein the time consumption of the fine search actions on the search in one room is longer than that of the quick search actions, and the search precision is higher than that of the quick search actions.
In a third aspect, a robot is provided, comprising: a memory and a processor;
the memory is used for storing programs;
the processor is configured to execute the program to implement the steps of the robot pile-finding method described above.
In a fourth aspect, a storage medium is provided, on which a computer program is stored which, when being executed by a processor, implements the steps of the robot staking method as described above.
By means of the technical scheme, in the pile searching process of the robot, a two-stage searching strategy is adopted, namely quick searching is firstly performed and then fine searching is performed. First, determining a first search sequence of each room in a region to be searched, and sequentially executing quick search actions on each room according to the first search sequence, wherein the quick search actions comprise: and controlling the robot to navigate to a preset observation point position in each room to search the charging pile, and if the charging pile is not searched at the observation point position, driving out the current room and entering the next room for searching. It can be appreciated that in a normal case, if a charging pile exists in a room, the charging pile can be detected in the process of navigating to the observation point, that is, the pile can be successfully found through the quick search process in most scenes, so that the pile finding efficiency is improved. For some special cases, such as when the charging pile is moved away to a hidden place, if the charging pile is not searched after the quick search action is performed on all rooms, the fine search action can be performed on each room again, and the fine search action takes longer time, but the search precision is higher than that of the quick search action, so that the success rate and the stability of pile searching under abnormal conditions can be considered by performing the fine search action on each room.
In summary, the method adopts a strategy of quick search and fine search, so that the efficiency of pile searching in most scenes can be considered, and the success rate and stability of pile searching in abnormal scenes are considered.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
fig. 1 is a schematic flow chart of a robot pile-finding method according to an embodiment of the present application;
fig. 2 is another flow chart of a robot pile-finding method according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a robot pile-finding device according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a hardware device of a robot according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The application provides a robot pile searching scheme, can be applicable to the robot and search the process of filling electric pile, especially when the robot does not store the electric pile position of predetermineeing, or fills under the condition that electric pile has deviated the position of predetermineeing, the robot carries out the process of blind search in waiting the search region. The robot is a movable robot, can break away from the autonomous movement work of the charging pile, and returns to the charging pile for charging and other maintenance. Taking a cleaning robot as an example, the cleaning machine can realize floor cleaning work such as sweeping, mopping and the like, and return to the charging pile to carry out maintenance work such as charging, cleaning rag, dust collection, water storage and the like.
The scheme can be realized based on the robot or other control terminals. Next, as described in connection with fig. 1, the robotic pile-finding method of the present application may include the following steps:
and step S100, after the fact that the robot needs to return to the charging pile is determined, determining a first searching sequence of each room in the area to be searched.
Specifically, the robot may need to return to the charging stake during operation due to too low power, receipt of a user recharging instruction, or other reasons. Taking the cleaning robot as an example, when the cleaning robot has low electric quantity, the dust collecting box is full, the water quantity of the water tank is insufficient or a user recharging instruction is received, the charging pile needs to be returned for charging or maintenance.
In order to realize that the robot can return to the charging pile, the charging pile is searched first, the position of the charging pile is found, and then the robot is navigated to the charging pile for pile feeding. In the present embodiment, a strategy of fast search and fine search is provided, and in the fast search stage, first, the fast search order of each room in the area to be searched is determined and defined as a first search order.
The areas to be searched are all potential areas of the charging pile. The rooms in the area to be searched are respective areas (defined as "rooms" in this application) obtained by partitioning the area to be searched in advance.
Step S110, according to the first search sequence, executing quick search actions on each room in turn.
Wherein the fast search action includes: and controlling the robot to navigate to a preset observation point position in each room to search the charging pile, and if the charging pile is not searched at the observation point position, driving out the current room and entering the next room for searching.
Wherein the first search order defines a sequencing of performing a quick search action for each room. When the quick search action is executed on each room, the robot can be controlled to navigate from the current position to the preset observation point position in the room, and search the charging pile in real time in the whole process of the navigation path, if the charging pile is not searched in the current room until the current position is moved to the observation point position, the robot can be controlled to drive out of the current room and enter the next room, and the quick search action is executed again until the charging pile is searched in a certain room, or the quick search action on all rooms is completed.
In this embodiment, the viewpoint positions may be set in advance in each room, and the viewpoint positions may be 1 or more, and the viewpoint positions may be set to 1 or 2 in consideration of the search speed.
Taking the case where the viewpoint position is 1 as an example, the viewpoint position may be a position point in the room where the field of view is large and less obstructed, and thus a position point in the room where the field of view satisfies the set field of view condition may be selected as the viewpoint position. Alternatively, the geometric center point of the room may be directly taken as the viewpoint position. Of course, if the geometric center point is not reachable (e.g., there is an obstacle), the reachable location point closest to the geometric center point may be selected as the viewpoint in the room.
Of course, there may be other ways to set the location of the observation point, and the location that facilitates the perceived search of the charging pile in the surrounding environment by the robot through the perception sensor is preferentially selected.
Step S120, if the charging pile is not searched after the quick search operation is performed on all rooms, performing a fine search operation on each room.
Specifically, if the charging pile is not searched after the quick search operation is performed on all rooms in the area to be searched, the position of the charging pile is hidden, and the charging pile cannot be found only by means of the quick search process. In order to ensure pile searching success rate, the application further provides a fine searching process, namely, fine searching actions are respectively executed on each room until the charging pile is searched in a certain room, or after the fine searching actions are executed on all rooms, subsequent setting actions such as prompting pile searching failure, prompting a user to move the charging pile to a designated position and the like can be executed.
The fine search action provided in this embodiment takes longer time to search a room than the fast search action, and the search accuracy is higher than the fast search action. Therefore, under the condition that the charging pile cannot be searched in the quick searching process, the pile searching success rate can be improved through the fine searching process.
According to the pile searching method, in the pile searching process of the robot, a two-stage searching strategy is adopted, namely quick searching is firstly performed and then fine searching is performed. First, determining a first search sequence of each room in a region to be searched, and sequentially executing quick search actions on each room according to the first search sequence, wherein the quick search actions comprise: and controlling the robot to navigate to a preset observation point position in each room to search the charging pile, and if the charging pile is not searched at the observation point position, driving out the current room and entering the next room for searching. It can be appreciated that in a normal case, if a charging pile exists in a room, the charging pile can be detected in the process of navigating to the observation point, that is, the pile can be successfully found through the quick search process in most scenes, so that the pile finding efficiency is improved. For some special cases, such as when the charging pile is moved away to a hidden place, if the charging pile is not searched after the quick search action is performed on all rooms, the fine search action can be performed on each room again, and the fine search action takes longer time, but the search precision is higher than that of the quick search action, so that the success rate and the stability of pile searching under abnormal conditions can be considered by performing the fine search action on each room.
In summary, the method adopts a strategy of quick search and fine search, so that the efficiency of pile searching in most scenes can be considered, and the success rate and stability of pile searching in abnormal scenes are considered.
Next, the advantages of the solution of the present application are described in connection with a practical scenario:
taking a cleaning robot as an example, a charging pile of the cleaning robot is positioned in a living room, and the cleaning robot enters a bedroom for cleaning after the living room is cleaned. At this time, the user feels that the charging pile affects the user's activity space in the living room, and thus, temporarily moves it to the balcony. When the electric quantity of the cleaning robot is insufficient and the charging pile needs to be returned, the cleaning robot moves towards the starting point of the planned path, and the charging pile is not found after the cleaning robot reaches the starting point. According to the scheme, the navigation distance between each room in the whole house and the current position of the cleaning robot can be calculated, and the first search sequence of each room is determined. For example, the balcony is closest to the navigation distance of the cleaning robot, and the cleaning robot is preferentially moved to the center of the balcony, and the charging pile can be easily searched through the quick searching process because the cleaning robot is placed in the balcony and is not shielded, so that the pile searching efficiency is improved.
Of course, if the cleaning robot is moved to the balcony and then placed in a corner, the observation point of the cleaning robot at the center of the balcony cannot search the charging piles due to shielding, then the cleaning robot continues to perform quick search on other rooms in the room, after a round of quick search, no charging piles are found, the cleaning robot can enter a fine search process, and fine searches can be performed on the rooms one by one, for example, the cleaning robot gradually searches along the contour edges of the rooms, when the balcony is subjected to fine search, the charging piles in the corners can be searched, and the success rate of integral pile searching is ensured.
In some embodiments of the present application, the foregoing step S100 is described for determining the first search order of each room in the area to be searched.
The first search order indicates an order of performing quick search on each room, and in this embodiment, each room in the area to be searched may be randomly ordered, and as the first search order, in addition to this, the first search order may be determined in other manners, for example, two alternative manners of determining the first search order are provided in this embodiment:
a first kind of,
The rooms may be ordered by the navigational distance between the rooms and the current position of the robot. Specifically, the navigation distance between the current position of the robot and each room in the area to be searched can be calculated. And sequencing the rooms according to the sequence from the near to the far of the navigation distance, wherein the sequencing sequence is used as a first searching sequence.
According to the sequence of the navigation distance between each room and the current position of the robot from the near to the far, the first search sequence of the rapid search of each room is adopted, so that the moving distance of the robot can be saved, and the charging pile can be searched more rapidly.
A second kind of,
Firstly, attribute information of each room in an area to be searched is acquired, wherein the attribute information is used for representing functional attributes of the rooms.
For example, according to the difference of the attributes, each room may be divided into: living room, kitchen, bathroom, balcony, study room, bedroom, other room, etc.
In this step, a semantic map corresponding to the region where the robot works may be obtained. And if the attribute information of each room is marked in the semantic map, searching the attribute information of each room in the area to be searched in the semantic map. If the attribute information of each room is not marked in the semantic map, searching the item information in each room in the area to be searched in the semantic map, wherein the item information comprises item types; attribute information of each room is determined based on the item information in each room.
Further, the priorities of the rooms are determined according to the attribute information of the rooms, and a first search order of the rooms is set according to the order of the priorities from high to low.
And setting corresponding priorities of rooms with different properties according to the probability that the charging piles exist inside, wherein the higher the probability is, the higher the priority is.
It can be understood that, in the actual scene, some priori information may guide the direction of the pile, for example, the probability that the charging piles exist in rooms with different attributes is different, taking a cleaning robot as an example, because the charging piles are generally integrated with functions of cleaning rags and automatic dust collection, the charging piles are unlikely to be arranged in bedrooms, and more likely to be arranged in rooms with attributes such as living rooms and kitchens, corresponding priorities can be set for rooms with different attribute information based on the priori information, and then the priorities of the rooms can be determined according to the attribute information of the rooms in the area to be searched, and the first search sequence of the rooms is set according to the sequence of the priorities from high priority to low.
Obviously, the functional attribute information of each room in the area to be searched is considered, the priority of each room and the first search sequence are determined based on the prior information that the probabilities of the charging piles in the rooms with different functional attributes are different, the rooms are subjected to quick search according to the first search sequence, the search directivity is stronger, the rooms with more possibility of the charging piles are preferentially searched, the pile searching efficiency is improved, and the charging piles are more quickly searched.
If more than two target rooms exist in each room in the area to be searched, the first search order of each room in the area to be searched can be set according to the order of the priority from high to low, and the first search order is set according to the order of the navigation path length corresponding to each target room in the same priority, wherein the navigation path length is the path length from the position of the robot to the target room.
In some embodiments of the present application, the foregoing step S110 is described as a process of sequentially performing a quick search operation on each room according to the first search order.
The first search order defines an order in which quick search actions are performed for the respective rooms, and step S110 may be implemented in the following manner:
s1, taking the current position of the robot as a starting point, and carrying out navigation path planning by taking the position of a preset observation point in a nearest room to be searched as a target point according to the first search sequence.
It should be noted that, as the robot performs a quick search action for different rooms, the current position of the robot also changes. In this step, according to the first search sequence of each room, determining the latest room to be searched currently as the current room to be searched, and then performing navigation path planning by taking the current position of the robot as the starting point and taking the preset observation point position in the current room to be searched as the target point. When the current room is moved to the preset observing point position in the room to be searched and the charging pile is not searched yet, determining the next room to be searched according to the first searching sequence of each room, taking the current position of the robot as a starting point, taking the preset observing point position in the next room to be searched as a target point, and planning a navigation path again until the charging pile is searched in a certain room or the rapid searching action is executed on all rooms.
S2, controlling the robot to move the search charging pile along the planned path, controlling the robot to rotate at least one circle of search charging pile in situ after the target point is reached, and if the charging pile is not searched, returning to execute the step S1 until the charging pile is searched or the rapid search action on all rooms is completed.
Specifically, the sensing system can be started in real time in the moving process of the robot along the planned path, so that whether the charging pile exists in the surrounding environment or not is sensed, namely, the charging pile is searched in real time. After reaching the preset observation point position in the room, the device can rotate at least one circle in situ so as to sense the surrounding environment more comprehensively and search the charging pile. If the charging pile is not searched, the method indicates that the charging pile is not searched in the current room through the quick search action, and the next room can be entered for the quick search action. If the charging piles are not searched after the rapid searching action is performed on all rooms, a subsequent fine searching process can be performed.
In some embodiments of the present application, the process of performing the fine search action on each room in the aforementioned step S120 is described.
Before performing a fine search action for each room in the area to be searched, an order in which fine searches are performed for each room is first determined, and defined as a second search order.
The second search order may be obtained in a manner determined by the first search order described above, for example:
a first kind of,
The navigation distance between the current position of the robot and each room in the area to be searched can be calculated respectively, and the rooms are sequenced according to the sequence from the near to the far of the navigation distance, and the sequencing sequence is used as a second search sequence.
When the second search sequence is determined, the current position of the robot may be the position of the observation point in the last room in the first search sequence, or the initial original position returned by the robot after the rapid search is performed on all rooms.
A second kind of,
The second search order may be determined according to the aforementioned second method for determining the first search order, that is, the second search order is the same as the first search order, and the detailed process may be described with reference to the foregoing embodiment, which is not repeated herein.
After the second search order is determined, fine search actions may be performed sequentially on the rooms in the second search order.
The fine search action can have a plurality of different search modes, and compared with the quick search action, the fine search action has higher search precision. Of course, the higher the search accuracy, the more time consuming the search. Since the quick search process does not search for the charging pile, the fine search process may focus on the search accuracy, i.e., the search success rate.
In this embodiment, an optional fine search action is provided, and specifically, a side-by-side search strategy may be adopted, that is, a robot is controlled to move along the outline of each room to search for the charging pile in a clockwise or counterclockwise direction until the charging pile or the moving path is searched for a closed loop.
Specifically, the robot may be controlled to move to a point on the contour of the room, and move the search charging stake in a clockwise or counterclockwise direction along the contour of the room until the charging stake or the movement path is searched for a closed loop. When moving along the outline of the room, the robot can be controlled to have a certain safety distance from the outline of the room, such as about 3cm, so that the robot is ensured not to collide with the outline of the room.
In general, the charging pile can be directly searched through a quick search process. Under special conditions, if the charging pile is moved away to a corner which is not easy to find, the charging pile cannot be detected at the observation point, and the charging pile cannot be searched in the quick searching process, and at the moment, the success rate of pile searching can be greatly improved through a fine searching process and a little searching along the outline of a room.
In some embodiments of the present application, there is further provided another pile-finding method, as shown in connection with fig. 2, which may include the steps of:
step 200, obtaining a recharging instruction.
Specifically, when the electric quantity of the robot is insufficient, the robot needs to return to the charging pile for maintenance or receives a user recharging instruction, the robot can acquire the recharging instruction, which indicates that the robot needs to stop working and returns to the charging pile.
Step S210, judging whether a preset charging pile position is stored, if yes, executing step S220, and if not, executing step S250.
Specifically, after receiving the recharging instruction, it may be first determined whether a preset charging pile position is stored, where the preset charging pile position may be a starting point position of a current planned path of the robot, or a registered charging pile position in a semantic map corresponding to a working area of the robot, or a potential charging pile position determined based on data acquired by a sensor during a movement process before the robot needs to return to the charging pile.
And step 220, performing navigation path planning by taking the preset charging pile position as a target point, and controlling the robot to move towards the target point along a planned path.
Step S230, determining whether the robot detects the charging pile during the movement of the robot along the planned path toward the target point, if yes, executing step S240, and if no, executing step S250.
The robot in this step may be understood as including whether the charging pile is detected after reaching the target point in the process of moving along the planned path toward the target point, that is, judging whether the robot detects the charging pile in the process of planning the path and after reaching the target point, if the charging pile is detected in the process of planning the path or after reaching the target point, step S240 may be executed, and if the charging pile is not detected in the process of planning the path and after reaching the target point, step S250 may be executed.
And step S240, taking the detected position of the charging pile as a final position, controlling the robot to navigate to the final position, and executing pile entering action.
Step S250, determining a first search sequence of each room in the area to be searched.
In this embodiment, after the robot fails to search for the charging pile at the preset charging pile position, the robot enters a fast search process, and first, a first search order of each room in the area to be searched is determined as an order of executing a fast search operation on each room.
Step S260, according to the first search sequence, executing quick search actions on each room in turn.
Step S270, if the charging pile is not searched after the quick search operation is performed on all rooms, performing a fine search operation on each room.
The steps S250-S270 correspond to the steps S100-S120 in the foregoing embodiment one by one, and the detailed implementation process may be described with reference to the foregoing descriptions, which are not repeated here.
Step S280, determining whether a charging pile is detected during the fine search operation performed on each room, if yes, performing step S240, and if no, performing step S290.
Step S290, feeding back pile searching failure information.
According to the robot pile searching method provided by the embodiment, after the recharging instruction is received, the stored preset charging pile position is used as the target point for navigation searching for the charging pile, if the charging pile is moved away from the original position halfway or the robot does not store the preset charging pile position, a subsequent searching process can be carried out, and in the subsequent searching process, the pile searching efficiency can be considered, and the pile searching success rate can be ensured through the combination of rapid searching and fine searching.
The following describes a robotic pile-finding device provided in the embodiments of the present application, and the robotic pile-finding device described below and the robotic pile-finding method described above may be referred to correspondingly.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a robot pile-finding device according to an embodiment of the present application.
As shown in fig. 3, the apparatus may include:
a first search sequence determining unit 11, configured to determine, after determining that the robot needs to return to the charging pile, a first search sequence of each room in an area to be searched, where the area to be searched is all potential areas of the charging pile;
a quick search unit 12, configured to sequentially perform a quick search action on each room according to the first search order, where the quick search action includes: controlling the robot to navigate to a preset observation point position in each room to search a charging pile, and if the charging pile is not searched at the observation point position, driving out the current room and entering the next room for searching;
and the fine search unit 13 is configured to perform a fine search operation on each room if the charging pile is not searched after the quick search operation is performed on all rooms, where the fine search operation takes longer time to search for a room than the quick search operation, and the search accuracy is higher than the quick search operation.
Optionally, the process of determining the first search order of each room in the area to be searched by the first search order determining unit may include:
respectively calculating the navigation distance between the current position of the robot and each room in the area to be searched;
and sequencing the rooms according to the sequence from the near to the far of the navigation distance, wherein the sequencing sequence is used as the first searching sequence.
Optionally, the process of performing the quick search action on each room by the quick search unit sequentially according to the first search order may include:
taking the current position of the robot as a starting point, and carrying out navigation path planning by taking the position of a preset observation point in the nearest room to be searched as a target point according to the first search sequence;
and controlling the robot to move the search charging pile along the planned path, controlling the robot to rotate in situ for at least one circle of search charging pile after the charging pile reaches the target point, and if the charging pile is not searched, returning to execute the step of planning the navigation path by taking the current position of the robot as a starting point and taking the position of a preset observation point in the nearest room to be searched as the target point according to the first search sequence until the charging pile is searched or the rapid search action on all rooms is completed.
Optionally, the process of performing the fine search action on each room by the fine search unit may include:
respectively calculating the navigation distance between the current position of the robot and each room in the area to be searched;
sequencing the rooms according to the sequence from the near to the far of the navigation distance, wherein the sequencing sequence is used as a second search sequence;
and sequentially executing fine search actions on each room according to the second search sequence.
Alternatively, the fine search action performed by the fine search unit on each room may include:
the search charging piles are moved in a clockwise or counterclockwise direction along the contour of each room until the charging piles or the closed loop of the moving path is searched.
Optionally, the apparatus of the present application may further include:
the preset charging pile position judging unit is used for judging whether the preset charging pile position is stored or not after the fact that the robot needs to return to the charging pile is determined and before the first search sequence determining unit determines the first search sequence of each room in the area to be searched; if yes, executing the navigation pile returning unit, and if not, executing the step of determining the first search sequence of each room in the area to be searched;
and the navigation pile returning unit is used for planning a navigation path by taking the preset charging pile position as a target point, controlling the robot to move towards the target point along the planned path, if the charging pile is detected in the process, navigating to the charging pile by taking the detected charging pile position as a final position, and if the charging pile is not found in the whole planned path, returning to the step of determining the first search sequence of each room in the area to be searched.
The robot pile searching device provided by the embodiment of the application can be applied to robots and the like. Alternatively, fig. 4 shows a block diagram of a hardware structure of the robot, and referring to fig. 4, the hardware structure of the robot may include: at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4;
in the embodiment of the application, the number of the processor 1, the communication interface 2, the memory 3 and the communication bus 4 is at least one, and the processor 1, the communication interface 2 and the memory 3 complete communication with each other through the communication bus 4;
processor 1 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present invention, etc.;
the memory 3 may comprise a high-speed RAM memory, and may further comprise a non-volatile memory (non-volatile memory) or the like, such as at least one magnetic disk memory;
wherein the memory stores a program, the processor is operable to invoke the program stored in the memory, the program operable to:
after the fact that the robot needs to return to the charging pile is determined, determining a first searching sequence of each room in an area to be searched, wherein the area to be searched is all potential areas of the charging pile;
according to the first search sequence, performing quick search actions on each room in turn, wherein the quick search actions comprise: controlling the robot to navigate to a preset observation point position in each room to search a charging pile, and if the charging pile is not searched at the observation point position, driving out the current room and entering the next room for searching;
if the charging piles are not searched after the quick search action is performed on all rooms, fine search actions are performed on the rooms respectively, the time spent on searching a room by the fine search actions is longer than that of the quick search actions, and the search precision is higher than that of the quick search actions.
Alternatively, the refinement function and the extension function of the program may be described with reference to the above.
The embodiment of the application also provides a storage medium, which may store a program adapted to be executed by a processor, the program being configured to:
after the fact that the robot needs to return to the charging pile is determined, determining a first searching sequence of each room in an area to be searched, wherein the area to be searched is all potential areas of the charging pile;
according to the first search sequence, performing quick search actions on each room in turn, wherein the quick search actions comprise: controlling the robot to navigate to a preset observation point position in each room to search a charging pile, and if the charging pile is not searched at the observation point position, driving out the current room and entering the next room for searching;
if the charging piles are not searched after the quick search action is performed on all rooms, fine search actions are performed on the rooms respectively, the time spent on searching a room by the fine search actions is longer than that of the quick search actions, and the search precision is higher than that of the quick search actions.
Alternatively, the refinement function and the extension function of the program may be described with reference to the above.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the present specification, each embodiment is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and may be combined according to needs, and the same similar parts may be referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A robot pile finding method, comprising:
after the fact that the robot needs to return to the charging pile is determined, determining a first searching sequence of each room in an area to be searched, wherein the area to be searched is all potential areas of the charging pile;
according to the first search sequence, performing quick search actions on each room in turn, wherein the quick search actions comprise: controlling a robot to navigate to a preset observation point position in each room to search a charging pile, if the charging pile is not searched at the observation point position, driving out a current room and entering a next room for searching, wherein the rooms in the area to be searched are all areas obtained after the area to be searched is partitioned in advance;
if the charging pile is not searched after the quick search action is performed on all rooms, performing fine search actions on each room respectively, wherein the fine search actions comprise: moving the search charging piles in a clockwise or anticlockwise direction along the outline of each room until the charging piles or the moving path is searched for a closed loop; the fine search action takes longer time to search a room than the quick search action, and the search accuracy is higher than the quick search action;
the preset observation points in each room comprise:
taking the geometric center point as the observation point position under the condition that the geometric center point of the room is reachable;
in the case that the geometric center point of the room is not reachable, taking the reachable position point closest to the geometric center point in the room as the observation point position;
or alternatively, the first and second heat exchangers may be,
a position point in the room, the selected visual field range of which meets the set visual field condition, is used as the observation point position;
the performing a fine search action on each room, respectively, includes:
respectively calculating the navigation distance between the current position of the robot and each room in the area to be searched;
sequencing the rooms according to the sequence from the near to the far of the navigation distance, wherein the sequencing sequence is used as a second search sequence;
and sequentially executing fine search actions on each room according to the second search sequence.
2. The method of claim 1, wherein determining a first search order for each room within the area to be searched comprises:
respectively calculating the navigation distance between the current position of the robot and each room in the area to be searched;
and sequencing the rooms according to the sequence from the near to the far of the navigation distance, wherein the sequencing sequence is used as the first searching sequence.
3. The method of claim 1, wherein performing a quick search action on each room in turn in the first search order comprises:
taking the current position of the robot as a starting point, and carrying out navigation path planning by taking the position of a preset observation point in the nearest room to be searched as a target point according to the first search sequence;
and controlling the robot to move the search charging pile along the planned path, controlling the robot to rotate in situ for at least one circle of search charging pile after the charging pile reaches the target point, and if the charging pile is not searched, returning to execute the step of planning the navigation path by taking the current position of the robot as a starting point and taking the position of a preset observation point in the nearest room to be searched as the target point according to the first search sequence until the charging pile is searched or the rapid search action on all rooms is completed.
4. The method of claim 1, wherein the predetermined viewpoint positions in each room are 1 or 2.
5. The method of any of claims 1-4, wherein after determining that the robot needs to return to the charging stake and before determining the first search order for each room within the area to be searched, the method further comprises:
judging whether a preset charging pile position is stored or not;
if the charging pile is not found in the whole planning path, executing the first search sequence and the subsequent steps of determining each room in the area to be searched;
if not, executing the first searching sequence for determining each room in the area to be searched and the subsequent steps.
6. The method according to claim 5, wherein the preset charging pile position is a starting point position of a current planned path of the robot, or a registered charging pile position in a semantic map corresponding to a working area of the robot, or a potential charging pile position determined by the robot based on data acquired by the sensor during a movement process before the robot needs to return to the charging pile.
7. A robotic pile-finding device, comprising:
the first search sequence determining unit is used for determining a first search sequence of each room in an area to be searched after determining that the robot needs to return to the charging pile, wherein the area to be searched is all potential areas of the charging pile;
the quick search unit is used for sequentially executing quick search actions on all rooms according to the first search sequence, and the quick search actions comprise: controlling a robot to navigate to a preset observation point position in each room to search a charging pile, if the charging pile is not searched at the observation point position, driving out a current room and entering a next room for searching, wherein the rooms in the area to be searched are all areas obtained after the area to be searched is partitioned in advance;
and a fine search unit for performing fine search actions on the rooms if the charging pile is not searched after the rapid search actions are performed on all the rooms, the fine search actions including: moving the search charging piles in a clockwise or anticlockwise direction along the outline of each room until the charging piles or the moving path is searched for a closed loop; the fine search action takes longer time to search a room than the quick search action, and the search accuracy is higher than the quick search action;
the preset observation points in each room comprise:
taking the geometric center point as the observation point position under the condition that the geometric center point of the room is reachable;
in the case that the geometric center point of the room is not reachable, taking the reachable position point closest to the geometric center point in the room as the observation point position;
or alternatively, the first and second heat exchangers may be,
a position point in the room, the selected visual field range of which meets the set visual field condition, is used as the observation point position;
the performing a fine search action on each room, respectively, includes:
respectively calculating the navigation distance between the current position of the robot and each room in the area to be searched;
sequencing the rooms according to the sequence from the near to the far of the navigation distance, wherein the sequencing sequence is used as a second search sequence;
and sequentially executing fine search actions on each room according to the second search sequence.
8. A robot, comprising: a memory and a processor;
the memory is used for storing programs;
the processor is configured to execute the program to implement the steps of the robot pile-finding method according to any one of claims 1 to 6.
9. A storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the robot staking method of any of claims 1-6.
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